CN102874405A - Flow guide control method for miniature single rotor aircraft - Google Patents
Flow guide control method for miniature single rotor aircraft Download PDFInfo
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- CN102874405A CN102874405A CN2012103379557A CN201210337955A CN102874405A CN 102874405 A CN102874405 A CN 102874405A CN 2012103379557 A CN2012103379557 A CN 2012103379557A CN 201210337955 A CN201210337955 A CN 201210337955A CN 102874405 A CN102874405 A CN 102874405A
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Abstract
The invention discloses a flow guide control method for a miniature single rotor aircraft. According to the control principle, downwash air flow which is generated when a rotor rotates is controlled by a flow guide sheet, and reverse torque balancing and heading control are realized; when the downwash air flow which is generated when the rotor rotates flows through the flow guide sheet, a force couple is formed around the rotation direction on the flow guide sheet on the horizontal plane; when the force couple is equal to the reverse torque, the aircraft is subjected to torque balancing, and a body does not autorotate; when the force couple is unequal to the reverse torque of the rotor, the body rotates to realize heading control; and when the miniature single rotor aircraft vertically takes off, lands, or hovers or flies forward along the random direction, the balancing and heading control methods can be adopted. The device is simple and compact in structure and beneficial to miniaturization.
Description
Technical field
The present invention relates to the aircraft field, in particular, the present invention relates to a kind of miniature single rotor craft flow controlling method.
Background technology
Since the last century the nineties, along with improving constantly of conventional aircraft designing technique, people are to the continuous exploration of animal flight and the mechanism of moving about and understand in depth, and the develop rapidly of microelectronic technique, these principles and technology are being applied to the minute vehicle design field that develops rapidly.Minute vehicle is with a wide range of applications at aspects such as national security and the developments of the national economy, can be used for the task such as scouting, communication, exploration, assistance rescue under the complicated environmental condition.
In existing minute vehicle topology layout form, the design of single rotor-hub configuration is because technology is relatively ripe, can hover and flies before any direction and obtained extensive approval and application.At present, all owing to need the problem of solution equilibrium of torques to cause the Flight Vehicle Structure size relatively large, be unfavorable for the development of further micro-miniaturisation based on the design of one group of single rotor.
Summary of the invention
The objective of the invention is to utilize the tail-rotor balancing torque and cause size to be difficult for the problem of further micro-miniaturisation in order to solve existing miniature single rotor craft, propose a kind of miniature single rotor craft flow controlling method and come balance rotor moment of torsion, realize directional control, and the inherent characteristic that keeps vertical takeoff and landing, hovers and fly before any direction; Flow controlling by downwash flow that rotor wing rotation is produced changes the flow deflector deflection angle and produces moment of torsion, realizes the control of aircraft torque trim and course.
A kind of miniature single rotor craft flow controlling method, specific as follows:
Minute vehicle is in flight course, and the downwash flow that flow deflector utilizes rotor wing rotation to produce produces the reactive torque trim and realizes course control; When the downwash flow that namely produces when rotor wing rotation flow through flow deflector, flow deflector produced the couple around hand of rotation in horizontal surface; When it equated with the rotor reactive torque, aircraft was realized moment of torsion trim, not rotation of body; When itself and antitorque of rotor did not wait, the body rotation realized directional control; In miniature single rotor craft vertical takeoff and landing, hover and fly Shi Junke before any direction and adopt above-mentioned trim and course heading control method.
Be applied to miniature single rotor craft of above-mentioned miniature single rotor craft flow controlling method, comprise fairing, body shell, strut bar, alighting gear, flow deflector, adapter shaft, balance controller, cylinder block set, rotor, rotor shaft, upper end cover and bottom end cover;
Described fairing is cylinder type, and is in the body shell outside, high, coaxial together with the body shell; Fairing and body shell are connected by the two groups of strut bars arranged along the fairing diametric(al) in top and bottom; Totally two groups of described strut bars, two every group, one group of strut bar is positioned at the fairing top, and one group of strut bar is positioned at bottom part of fairing, and four strut bars all are positioned at same vertical plane; Described alighting gear is fixed on bottom part of fairing, mutually becomes 120 ° of angles; Described flow deflector is a pair of rectangular thin plate, and vertical middle part between fairing and body shell becomes respectively 90 ° of angles with the supported on both sides bar; Described adapter shaft one end links to each other with flow deflector, and the other end passes body shell through hole, links to each other with balance controller in the body shell; Described balance controller control flow deflector in the same way deflection to produce the couple that is used for reactive torque trim and course control; Cylinder block set comprises transmission device, motor, electric machine controller, power supply, wherein transmission device base section, motor, electric machine controller, power supply all are fixed on body shell inside, the transmission device top section links to each other with the top of rotor and rotor shaft, and the other end of rotor shaft links to each other with transmission device base section in the cylinder block set; Described body shell is coaxial with rotor shaft, and upper and lower side is covered by upper end cover and bottom end cover respectively.
The invention has the advantages that:
(1) designed a kind of method that adopts flow deflector that miniature single rotor craft is controlled among the present invention, realized antitorque of rotor trim and directional control, and keep the aircraft vertical takeoff and landing, hover constant with the ability that before different directions, flies;
(2) design a kind of method that adopts flow deflector that miniature single rotor craft is controlled among the present invention, made miniature single rotor craft compact conformation of using this control method, be conducive to micro-miniaturisation.
Description of drawings
Fig. 1 is the front elevation that utilizes miniature single rotor craft of a kind of miniature single rotor craft flow controlling method of the present invention;
Fig. 2 is the birds-eye view that utilizes miniature single rotor craft of a kind of miniature single rotor craft flow controlling method of the present invention;
Among the figure:
1-fairing 2-body shell 3-strut bar 4-alighting gear
5-flow deflector 6-adapter shaft 7-balance controller 8-cylinder block set
9-rotor 10-rotor shaft 11-upper end cover 12-bottom end cover
The specific embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
Embodiment as shown in Figure 1 and Figure 2, carry out miniature single rotor craft of moment of torsion trim and course control for using control method of the present invention, comprise fairing 1, body shell 2, strut bar 3, alighting gear 4, flow deflector 5, adapter shaft 6, balance controller 7, cylinder block set 8, rotor 9, rotor shaft 10, upper end cover 11 and bottom end cover 12.
Described fairing 1 is cylinder type, and is in body shell 2 outsides, high, coaxial together with body shell 2; Fairing 1 is connected by the two groups of strut bars 3 arranged along fairing 1 diametric(al) in top and bottom with body shell 2; Totally two groups of described strut bars 3, two every group, one group of strut bar 3 is positioned at fairing 1 top, and another group strut bar 3 is positioned at fairing 1 bottom, and four strut bars 3 all are positioned at same vertical plane, and (two strut bar 3 conllinear at top are arranged symmetrically with along diametric(al); Two strut bars 3 of bottom are conllinear also, is arranged symmetrically with along diametric(al) equally, and at this moment, the position relationship of two groups of strut bars 3 just guarantees by strut bar 3 lines at top and strut bar 3 lines coplanar (vertical plane) of bottom up and down); Described alighting gear 4 is fixed on fairing 1 bottom, mutually becomes 120 ° of angles.
Described flow deflector 5 is a pair of rectangular thin plate, and vertical middle part between fairing 1 and body shell 2 is respectively with 3 one-tenth 90 ° of angles of supported on both sides bar; Described adapter shaft 6 one ends link to each other with flow deflector 5, and the other end passes body shell 2 through holes, link to each other with balance controller 7 in the body shell 2; Described balance controller 7 control flow deflectors 5 in the same way deflection to produce the couple that is used for reactive torque trim and course control.
Described rotor 9, rotor shaft 10, cylinder block set 8(transmission device, motor, electric machine controller, power supply) with existing identical with miniature single rotor craft of tail-rotor; Cylinder block set 8 comprises transmission device, motor, electric machine controller, power supply, wherein transmission device base section, motor, electric machine controller, power supply all are fixed on body shell 2 inside, the transmission device top section links to each other with the top of rotor 9 and rotor shaft 10, the other end of rotor shaft 10 links to each other with transmission device base section in the cylinder block set 8, between the cylinder block set each several part and connection mode and the mode and existing identical with miniature single rotor craft of tail-rotor of cylinder block set and rotor, rotor shaft.
Described body shell 2 is coaxial with rotor shaft 10, and upper and lower side is covered by upper end cover 11 and bottom end cover 12 respectively.
Described balance controller 7 adopts miniature control steering wheel.
A kind of miniature single rotor craft flow controlling method of the present invention, specific as follows:
Minute vehicle is in flight course, and the downwash flow that flow deflector 5 utilizes rotor 9 rotations to produce produces the reactive torque trim and realizes course control; When the downwash flow that namely produces when rotor 9 rotation flows through flow deflector 5, the couple that flow deflector 5 produces around hand of rotation in horizontal surface; When it equated with rotor 9 reactive torques, aircraft was realized moment of torsion trim, not rotation of body; When itself and rotor 9 reactive torques did not wait, the body rotation realized directional control; In miniature single rotor craft vertical takeoff and landing, hover and fly Shi Junke before any direction and adopt above-mentioned trim and course heading control method.
A kind of miniature single rotor band aircraft flow controlling method of the present invention, the specific implementation step is as follows:
(1) reactive torque trim
Miniature single rotor craft is when taking off vertically, hovering and flying before the different directions, balance controller 7 with controlled reset drives in the same way deflection certain angle (this deflection angle is less than 30 °) of flow deflector 5 according to motor output torque and rotor downwash air-flow velocity size, the couple that produces on the flow deflector 5 is equated with rotor 9 reactive torques, namely realize the moment of torsion trim, not rotation of body.
(2) course control
Miniature single rotor craft is when taking off vertically, hovering and flying before the different directions, balance controller 7 with controlled reset drives in the same way deflection certain angle (this deflection angle is less than 30 °) of flow deflector 5 according to motor output torque, rotor downwash air-flow velocity and fuselage expection spin velocity, make the couple that produces on the flow deflector 5 be greater than or less than the reactive torque of rotor 9, make the required angle of body rotation, and then repeat above-mentioned reactive torque trimming control, make not rotation of body, namely realize directional control.
Use in the example control method of the present invention carry out miniature single rotor craft of moment of torsion trim and course control can be by the following steps manufacturing:
Step 1: make body shell 2
As shown in Figure 1, body shell 2 is cylinder type, and is coaxial with rotor shaft 10, body shell 2 outer diameters and guarantee highly at least to hold cylinder block set 8.Body shell 2 outer wall thickness are bonding the forming of foamed materials of 2mm.Vertically make a call to one group of circular hole along diametric(al) in height 1/2 place at body shell 2 outer walls, be convenient to adapter shaft 6 and pass through; Get the disk that two diameters of thickness 2mm cork wood plate intercepting equal body shell 2 internal diameters, as upper end cover 11 and bottom end cover 12, be used for covering body shell 2 upper and lower sides, suitably punch, slot at disk according to installation site and the dimensional characteristic of body shell 2 interior rotor shaft 10 parts such as grade.With the bonding bottom end cover 12 in body shell 2 bottoms.
Step 2: transform the single rotor craft with tail-rotor
Tail-rotor and afterbody with single rotor craft of tail-rotor are removed, keep original cylinder block set 8(power supply, transmission device, motor, electric machine controller etc.), rotor 9, rotor shaft 10, and original cylinder block set 8 is fixed in the body shell 2 bottom end cover 12 upper surfaces.
Step 3: make fairing 1, strut bar 3 and alighting gear 4
Step 4: make flow deflector 5 and adapter shaft 6, purchase balance controller 7
Step 5: aircraft assembling
With four strut bar 3 two ends along fairing 1 diametric(al) respectively level be bonded on fairing 1 and the body shell 2, the two is connected, wherein two are fixed on fairing 1 top, and other two are horizontally fixed on fairing 1 bottom, and four strut bar 3 fixing rear maintenances are vertically coplanar.Up and down two groups of strut bars 3 all with adapter shaft 6 place straight line quadratures.Body shell 2 upper ends are bonding with upper end cover 11.At last three alighting gear 4 one ends are fixed on fairing 1 bottom, are in 120 ° of angles.
Step 6: aircraft is taken a flight test
Under the quiescence of ground, according to the original flight control method that takes off vertically, hovers and fly before the either direction of miniature single rotor craft, the operate aircraft vertical takeoff and landing, hover or before fly.Under above-mentioned state of flight, adjustment controller 7 drives in the same way deflection certain angle of flow deflector 5, and the couple that produces on the flow deflector 5 is equated with rotor 9 reactive torques, realizes the moment of torsion trim, not rotation of body.Under above-mentioned state of flight, turn to such as need, balance controller 7 drives in the same way deflection certain angle of flow deflector 5, make the couple that produces on the flow deflector 5 be greater than or less than rotor 9 reactive torques, make the required angle of body rotation, and then repeat above-mentioned moment of torsion trimming control, and make not rotation of body, namely realize directional control.Take a flight test finish after, vertical landing to ground gets final product.
Claims (5)
1. a miniature single rotor craft flow controlling method is characterized in that, and is specific as follows:
Minute vehicle is in flight course, and the downwash flow that flow deflector utilizes rotor wing rotation to produce produces the reactive torque trim and realizes course control; When the downwash flow that namely produces when rotor wing rotation flow through flow deflector, flow deflector produced the couple around hand of rotation in horizontal surface; When it equated with the rotor reactive torque, aircraft was realized moment of torsion trim, not rotation of body; When itself and antitorque of rotor did not wait, the body rotation realized directional control; In miniature single rotor craft vertical takeoff and landing, hover and fly Shi Junke before any direction and adopt above-mentioned trim and course heading control method.
2. a kind of miniature single rotor craft flow controlling method according to claim 1 is characterized in that, specifically comprises:
(1) reactive torque trim
Miniature single rotor craft is when taking off vertically, hovering and flying before the different directions, balance controller with controlled reset drives in the same way deflection certain angle of flow deflector according to motor output torque and rotor downwash air-flow velocity size, the couple that produces on the flow deflector is equated with antitorque of rotor, namely realize the moment of torsion trim, not rotation of body;
(2) course control
Miniature single rotor craft is when taking off vertically, hovering and flying before the different directions, balance controller with controlled reset drives in the same way deflection certain angle of flow deflector according to motor output torque, rotor downwash air-flow velocity and fuselage expection spin velocity, make the couple that produces on the flow deflector be greater than or less than the reactive torque of rotor, make the required angle of body rotation, and then repeat above-mentioned reactive torque trimming control, make not rotation of body, namely realize directional control.
3. a kind of miniature single rotor craft flow controlling method according to claim 2 is characterized in that described deflection angle is less than 30 °.
4. be applied to miniature single rotor craft of the described a kind of miniature single rotor craft flow controlling method of claim 1 or claim 2, it is characterized in that, comprise fairing, body shell, strut bar, alighting gear, flow deflector, adapter shaft, balance controller, cylinder block set, rotor, rotor shaft, upper end cover and bottom end cover;
Described fairing is cylinder type, and is in the body shell outside, high, coaxial together with the body shell; Fairing and body shell are connected by the two groups of strut bars arranged along the fairing diametric(al) in top and bottom; Totally two groups of described strut bars, two every group, one group of strut bar is positioned at the fairing top, and one group of strut bar is positioned at bottom part of fairing, and four strut bars all are positioned at same vertical plane; Described alighting gear is fixed on bottom part of fairing, mutually becomes 120 ° of angles; Described flow deflector is a pair of rectangular thin plate, and vertical middle part between fairing and body shell becomes respectively 90 ° of angles with the supported on both sides bar; Described adapter shaft one end links to each other with flow deflector, and the other end passes body shell through hole, links to each other with balance controller in the body shell; Described balance controller control flow deflector in the same way deflection to produce the couple that is used for reactive torque trim and course control; Cylinder block set comprises transmission device, motor, electric machine controller, power supply, wherein transmission device base section, motor, electric machine controller, power supply all are fixed on body shell inside, the transmission device top section links to each other with the top of rotor and rotor shaft, and the other end of rotor shaft links to each other with transmission device base section in the cylinder block set; Described body shell is coaxial with rotor shaft, and upper and lower side is covered by upper end cover and bottom end cover respectively.
5. miniature single rotor craft according to claim 4 is characterized in that, described balance controller adopts miniature control steering wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210337955.7A CN102874405B (en) | 2012-09-13 | 2012-09-13 | Flow guide control method for miniature single rotor aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210337955.7A CN102874405B (en) | 2012-09-13 | 2012-09-13 | Flow guide control method for miniature single rotor aircraft |
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| CN102874405A true CN102874405A (en) | 2013-01-16 |
| CN102874405B CN102874405B (en) | 2015-06-24 |
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| CN201210337955.7A Active CN102874405B (en) | 2012-09-13 | 2012-09-13 | Flow guide control method for miniature single rotor aircraft |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106470899A (en) * | 2014-12-26 | 2017-03-01 | 南承昊 | The elimination torque of propeller type VTOL flying object and compatible device of keeping in balance |
| CN110641692A (en) * | 2018-12-14 | 2020-01-03 | 深圳市格上格创新科技有限公司 | Fuselage balance unmanned aerial vehicle and control method thereof |
| CN110920897A (en) * | 2019-12-14 | 2020-03-27 | 赵海荣 | Aircraft rescue nacelle and control method |
| CN110920898A (en) * | 2019-12-14 | 2020-03-27 | 赵海荣 | Pod for aircraft rescue and control method |
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| CN1312205A (en) * | 2000-12-29 | 2001-09-12 | 武汉大学 | Spherical crown helicopter with single rotary wing and no tail paddle |
| CN1699114A (en) * | 2005-03-15 | 2005-11-23 | 王忠信 | Unmanned aerobat with ring-like wing |
| CN102083687A (en) * | 2008-07-07 | 2011-06-01 | 选择产业株式会社 | Bottom blade type trefoil flight vehicle |
| CN102119102A (en) * | 2008-07-07 | 2011-07-06 | 选择产业株式会社 | Rotational bottom blade type flight vehicle |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1312205A (en) * | 2000-12-29 | 2001-09-12 | 武汉大学 | Spherical crown helicopter with single rotary wing and no tail paddle |
| CN1699114A (en) * | 2005-03-15 | 2005-11-23 | 王忠信 | Unmanned aerobat with ring-like wing |
| CN102083687A (en) * | 2008-07-07 | 2011-06-01 | 选择产业株式会社 | Bottom blade type trefoil flight vehicle |
| CN102119102A (en) * | 2008-07-07 | 2011-07-06 | 选择产业株式会社 | Rotational bottom blade type flight vehicle |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106470899A (en) * | 2014-12-26 | 2017-03-01 | 南承昊 | The elimination torque of propeller type VTOL flying object and compatible device of keeping in balance |
| CN110641692A (en) * | 2018-12-14 | 2020-01-03 | 深圳市格上格创新科技有限公司 | Fuselage balance unmanned aerial vehicle and control method thereof |
| CN110920897A (en) * | 2019-12-14 | 2020-03-27 | 赵海荣 | Aircraft rescue nacelle and control method |
| CN110920898A (en) * | 2019-12-14 | 2020-03-27 | 赵海荣 | Pod for aircraft rescue and control method |
| CN110920897B (en) * | 2019-12-14 | 2021-09-03 | 赵海荣 | Aircraft rescue nacelle and control method |
| CN110920898B (en) * | 2019-12-14 | 2021-11-05 | 赵海荣 | Pod for aircraft rescue and control method |
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| Publication number | Publication date |
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| CN102874405B (en) | 2015-06-24 |
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Application publication date: 20130116 Assignee: Beijing Hangyuan ruizeng System Technology Co.,Ltd. Assignor: BEIHANG University Contract record no.: X2021110000003 Denomination of invention: A diversion control method for micro single rotor aircraft Granted publication date: 20150624 License type: Common License Record date: 20210121 |
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